/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_SOLVER_CONSTRAINT_H
#define BT_SOLVER_CONSTRAINT_H

class    btRigidBody;
#include "btVector3.h"
#include "btMatrix3x3.h"
#include "btJacobianEntry.h"

//#define NO_FRICTION_TANGENTIALS 1
#include "btSolverBody.h"


///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct)    btSolverConstraint
{
    BT_DECLARE_ALIGNED_ALLOCATOR();

    btVector3        m_relpos1CrossNormal;
    btVector3        m_contactNormal;

    btVector3        m_relpos2CrossNormal;
    //btVector3        m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal

    btVector3        m_angularComponentA;
    btVector3        m_angularComponentB;

    mutable btSimdScalar    m_appliedPushImpulse;
    mutable btSimdScalar    m_appliedImpulse;


    btScalar    m_friction;
    btScalar    m_jacDiagABInv;
    union
    {
        int    m_numConsecutiveRowsPerKernel;
        btScalar    m_unusedPadding0;
    };

    union
    {
        int            m_frictionIndex;
        btScalar    m_unusedPadding1;
    };
    union
    {
        int            m_solverBodyIdA;
        btScalar    m_unusedPadding2;
    };
    union
    {
        int            m_solverBodyIdB;
        btScalar    m_unusedPadding3;
    };

    union
    {
        void*        m_originalContactPoint;
        btScalar    m_unusedPadding4;
    };

    btScalar        m_rhs;
    btScalar        m_cfm;
    btScalar        m_lowerLimit;
    btScalar        m_upperLimit;

    btScalar        m_rhsPenetration;

    enum        btSolverConstraintType
    {
        BT_SOLVER_CONTACT_1D = 0,
        BT_SOLVER_FRICTION_1D
    };
};

typedef btAlignedObjectArray<btSolverConstraint>    btConstraintArray;


#endif //BT_SOLVER_CONSTRAINT_H
